Braid Effects on Contractile Range and Friction Modeling in Pneumatic Muscle Actuators

@article{Davis2006BraidEO,
  title={Braid Effects on Contractile Range and Friction Modeling in Pneumatic Muscle Actuators},
  author={Steve Davis and Darwin G. Caldwell},
  journal={I. J. Robotics Res.},
  year={2006},
  volume={25},
  pages={359-369}
}
Within braided pneumatic Muscle Actuators (pMA) the braid structure is vital to the actuator’s performance, preventing over-inflation, converting radial expansion into axial contraction and setting limits for both dilation and contraction. This paper seeks to explore the nature of the contractile limit and the hysteresis observed by researchers during the actuation cycle. Maximum actuator dilation occurs when adjacent braid strands are forced against one another. Within this work this is… CONTINUE READING
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